artisynth.core.femmodels

Class FemMeshComp

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.MeshComponent

artisynth.core.mechmodels.DynamicMeshComponent

artisynth.core.mechmodels.SkinMeshBase

artisynth.core.femmodels.FemMeshBase

artisynth.core.femmodels.FemMeshComp

All Implemented Interfaces:

FemMesh, Collidable, CollidableBody, HasSlaveObjects, HasSurfaceMesh, PointAttachable, ComponentChangeListener, CompositeComponent, IndexedComponentList, ModelComponent, PostScannable, RenderableComponent, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

Direct Known Subclasses:

MFreeMeshComp

public class FemMeshComp
extends FemMeshBase
implements CollidableBody, PointAttachable, FemMesh

Describes a mesh that is "skinned" onto an FEM, such that its vertex positions are determined by weighted combinations of FEM node positions.

Nested Class Summary

Nested classes/interfaces inherited from interface artisynth.core.mechmodels.Collidable

Collidable.Collidability, Collidable.Group

Nested classes/interfaces inherited from interface artisynth.core.modelbase.CompositeComponent

CompositeComponent.NavpanelDisplay

Field Summary

Fields

Modifier and Type	Field and Description
static PropertyList	myProps

Fields inherited from class artisynth.core.mechmodels.MeshComponent

DEFAULT_COLOR_INTERPOLATION, DEFAULT_SELECTABLE, DEFAULT_VERTEX_COLOR_MIXING

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface artisynth.core.mechmodels.Collidable

All, AllBodies, Deformable, Rigid, Self

Fields inherited from interface maspack.render.IsRenderable

TRANSPARENT, TWO_DIMENSIONAL

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

TG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATING

Constructor Summary

Constructors

Constructor and Description
FemMeshComp()
FemMeshComp(FemModel3d fem)
FemMeshComp(FemModel3d fem, java.lang.String name)

Method Summary

Modifier and Type	Method and Description
void	addVertexAttachment(PointAttachment attachment)
boolean	allowCollision(ContactPoint cpnt, Collidable other, java.util.Set<Vertex3d> attachedVertices) Returns true if a collision between this Collidable and other should be allowed for the contact point cpnt.
void	collectVertexMasters(java.util.List<ContactMaster> mlist, Vertex3d vtx) Collects the contact masters for a particular mesh vertex.
void	connectToHierarchy(CompositeComponent hcomp) Called by the system after this component, or an ancestor of this component, is added to the component hierarchy (i.e., added as a child of another CompositeComponent).
boolean	containsContactMaster(CollidableDynamicComponent comp) Returns true if this Collidable contains a specified contact master component.
FemMeshComp	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap)
static FemMeshComp	createEmbedded(FemMeshComp surf, MeshBase mesh)
static FemMeshComp	createEmbedded(FemMeshComp surf, MeshBase mesh, FemModel3d fem)
static FemMeshComp	createEmbedded(FemModel3d fem, MeshBase mesh)
void	createEmbeddingAttachments()
static FemMeshComp	createNodalEmbedded(FemMeshComp surf, MeshBase mesh, FemModel3d fem)
static FemMeshComp	createNodalEmbedded(FemModel3d fem, MeshBase mesh)
PointFem3dAttachment	createPointAttachment(Point pnt) Returns a PointAttachment that attaches pnt to this component.
void	createShellSurface(java.util.Collection<ShellElement3d> elems)
static FemMeshComp	createShellSurface(java.lang.String name, FemModel3d fem)
static FemMeshComp	createShellSurface(java.lang.String name, FemModel3d fem, java.util.Collection<ShellElement3d> elems)
static FemMeshComp	createShellSurface(java.lang.String name, FemModel3d fem, FemModel.ElementFilter efilter)
void	createSurface(FemModel.ElementFilter efilter)
static FemMeshComp	createSurface(java.lang.String name, FemModel3d fem)
static FemMeshComp	createSurface(java.lang.String name, FemModel3d fem, FemModel.ElementFilter efilter)
void	createVolumetricShellSurface(java.util.Collection<FemElement3d> volElems, java.util.Collection<ShellElement3d> shellElems)
void	createVolumetricSurface(java.util.Collection<FemElement3d> elems)
static FemMeshComp	createVolumetricSurface(java.lang.String name, FemModel3d fem)
static FemMeshComp	createVolumetricSurface(java.lang.String name, FemModel3d fem, java.util.Collection<FemElement3d> elems)
static FemMeshComp	createVolumetricSurface(java.lang.String name, FemModel3d fem, FemModel.ElementFilter efilter)
void	disconnectFromHierarchy(CompositeComponent hcomp) Called by the system after this component, or an ancestor of this component, is removed from the component hierarchy (i.e., removed as a child of its parent).
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
Collidable.Collidability	getCollidable() Returns the Collidable.Collidability of this Collidable.
Collidable	getCollidableAncestor() Returns the most immediate Collidable ancestor of this Collidable, if any.
int	getCollidableIndex()
PolygonalMesh	getCollisionMesh() Returns the mesh that should be used for computing collisions, or null if there is no such mesh.
DistanceGridComp	getDistanceGridComp() Returns a DistanceGridComp object that in turn contains a signed distance grid that can be used with a SignedDistanceCollider, or null if this Collidable does not support a signed distance grid (i.e., if CollidableBody.hasDistanceGrid() returns false).
FemElement3dBase	getFaceElement(Face face)
FemModel3d	getFem()
HalfEdge	getHalfEdgeForNodes(FemNode3d nodeTail, FemNode3d nodeHead) If nodeTail and nodeHead are directly attached to the tail and head vertices of a half-edge on this mesh, return the half-edge.
double	getMass() Returns the mass of the body.
FemModel3d	getModel()
FemNode3d	getNodeForVertex(Vertex3d vtx) Returns the node to which a specified vertex is directly attached, or null if no such node exists.
java.util.Set<FemNode3d>	getNodes() Returns the set of nodes that are employed by this mesh.
PointAttachment	getVertexAttachment(int idx) Retrieves (or creates) a vertex attachment component associated with vertex vidx, describing how its motion is driven by the underlying physical system.
PointAttachment	getVertexAttachment(Vertex3d vtx) Retrieves (or creates) a vertex attachment component associated with vertex vtx, describing how its motion is driver by the underlying physical system.
double	getVertexEnergyDensity(int idx) Computes the energy density value for a particular vertex in this mesh.
Vertex3d	getVertexForNode(FemNode3d node) Returns a vertex which is directly attached to the specified node, or null if no such vertex exists.
void	getVertexStrain(SymmetricMatrix3d S, int idx) Computes the strain value for a particular vertex in this mesh.
void	getVertexStress(SymmetricMatrix3d S, int idx) Computes the stress value for a particular vertex in this mesh.
boolean	hasDistanceGrid() Returns true if this Collidable supports a signed distance grid that can be used with a SignedDistanceCollider.
boolean	hasInvariantMasters() Queries whether or not the contact masters for a particular collision point are invariant across all contacts.
boolean	hasNodeDependency(FemNode3d node) Check if this mesh depends on a particular node
boolean	isCompound() Queries whether or not this collidable has sub-collidables.
boolean	isDeformable() Returns true if this collidable is deformable.
boolean	isGeneratedSurface() Returns true is this mesh was generated by one of the createSurface methdods.
boolean	isSingleNodeMapped() Returns true if every vertex in this mesh is directly attached to a single FEM node.
boolean	isSurfaceEdge(FemNode3d node0, FemNode3d node1) If node0 and node1 are directly attached to vertices of the mesh, return true if they are connected by a half-edge.
boolean	isSurfaceMesh()
int	numVertexAttachments()
void	postscan(java.util.Deque<ScanToken> tokens, CompositeComponent ancestor) Performs any required post-scanning for this component.
void	render(Renderer renderer, int flags) Render this object using the functionality of the supplied Renderer.
MeshBase	scanMesh(ReaderTokenizer rtok) Scans this mesh from a file, using the format described for writeMesh(java.lang.String).
void	setCollidable(Collidable.Collidability c)
void	setCollidableIndex(int idx)
void	setVertexAttachment(int vidx, double[] weights, FemNode3d[] nodes)
void	setVertexAttachment(int vidx, PointAttachment attachment)
void	transformGeometry(GeometryTransformer gtr, TransformGeometryContext context, int flags) Transforms the geometry of this component, using the geometry transformer gtr to transform its individual attributes.
boolean	writeMesh(java.io.PrintWriter pw) Writes the mesh for this FemMeshComp out to a PrintWriter, using a format of the form
boolean	writeMesh(java.io.PrintWriter pw, boolean nodeFormat)
boolean	writeMesh(java.lang.String fileName) Writes the mesh for this FemMeshComp out to a named file, using the format described for writeMesh(PrintWriter).

Methods inherited from class artisynth.core.femmodels.FemMeshBase

getColorMap, getColorMapMode, getSelection, getStressPlotRange, getStressPlotRangeMode, getStressPlotRanging, getStressPlotRangingMode, getSurfaceRendering, getSurfaceRenderingMode, numSelectionQueriesNeeded, prerender, render, resetAutoStressPlotRange, setColorMap, setColorMapMode, setMeshFromInfo, setStressPlotRange, setStressPlotRangeMode, setStressPlotRanging, setStressPlotRangingMode, setSurfaceRendering, setSurfaceRenderingMode

Methods inherited from class artisynth.core.mechmodels.SkinMeshBase

componentChanged, findComponent, get, get, getByNumber, getChildren, getNavpanelDisplay, getNavpanelVisibility, getNumberLimit, getSurfaceMesh, getSurfaceMeshes, hasChildren, hierarchyContainsReferences, indexOf, numComponents, numSurfaceMeshes, scaleDistance, scan, setDisplayMode, setNavpanelDisplay, updateNameMap, updateSlavePos, updateSlaveVel

Methods inherited from class artisynth.core.mechmodels.MeshComponent

addTransformableDependencies, createSurfaceMeshArray, getColorInterpolation, getFileName, getFileTransform, getMesh, getMeshToWorld, getSurfaceMeshes, getVertex, getVertexColorMixing, isFileTransformRigid, isMeshModified, isMeshPolygonal, isMeshTriangular, isSelectable, numSurfaceMeshes, numVertices, prerenderMesh, scaleMass, setColorInterpolation, setFileName, setFileTransform, setMesh, setMesh, setMesh, setMeshToWorld, setSelectable, setVertexColorMixing, transformGeometry, updateBounds, updatePosition

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

createRenderProps, defaultRenderPropsAreNull, getRenderHints, getRenderProps, isVisible, setRenderProps, setVisible, updateRenderProps

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, clone, createTempFlag, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasState, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, updateReferences, write

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface artisynth.core.femmodels.FemMesh

getMesh, isMeshPolygonal

Methods inherited from interface maspack.render.IsSelectable

getSelection, isSelectable, numSelectionQueriesNeeded

Methods inherited from interface maspack.render.IsRenderable

getRenderHints, prerender, updateBounds

Methods inherited from interface maspack.render.HasRenderProps

createRenderProps, getRenderProps, setRenderProps

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry

transformPriority

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

FemMeshComp

public FemMeshComp()

FemMeshComp

public FemMeshComp(FemModel3d fem)

FemMeshComp

public FemMeshComp(FemModel3d fem,
                   java.lang.String name)

Method Detail

getAllPropertyInfo

public PropertyList getAllPropertyInfo()

Description copied from interface: HasProperties

Returns a list giving static information about all properties exported by this object.

Specified by:

getAllPropertyInfo in interface HasProperties

Overrides:

getAllPropertyInfo in class FemMeshBase

Returns:

static information for all exported properties

render

public void render(Renderer renderer,
                   int flags)

Description copied from interface: IsRenderable

Render this object using the functionality of the supplied Renderer.

Specified by:

render in interface IsRenderable

Overrides:

render in class MeshComponent

Parameters:

renderer - provides the functionality used to perform the rendering.

flags - flags that may be used to control different aspects of the rendering. Flags are defined in Renderer and currently include Renderer.HIGHLIGHT and Renderer.SORT_FACES.

numVertexAttachments

public int numVertexAttachments()

Specified by:

numVertexAttachments in class FemMeshBase

getVertexAttachment

public PointAttachment getVertexAttachment(Vertex3d vtx)

Description copied from class: DynamicMeshComponent

Retrieves (or creates) a vertex attachment component associated with vertex vtx, describing how its motion is driver by the underlying physical system.

Specified by:

getVertexAttachment in class DynamicMeshComponent

Parameters:

vtx - vertex

Returns:

PointAttachment structure

getVertexAttachment

public PointAttachment getVertexAttachment(int idx)

Description copied from class: DynamicMeshComponent

Retrieves (or creates) a vertex attachment component associated with vertex vidx, describing how its motion is driven by the underlying physical system.

Specified by:

getVertexAttachment in class FemMeshBase

Parameters:

idx - vertex index

Returns:

PointAttachment structure

getNodes

public java.util.Set<FemNode3d> getNodes()

Returns the set of nodes that are employed by this mesh.

isSingleNodeMapped

public boolean isSingleNodeMapped()

Returns true if every vertex in this mesh is directly attached to a single FEM node. If this is the case, then getNodeForVertex(maspack.geometry.Vertex3d) and getVertexForNode(artisynth.core.femmodels.FemNode3d) will never return null.

Returns:

true if every vertex is attached a single node

getNodeForVertex

public FemNode3d getNodeForVertex(Vertex3d vtx)

Returns the node to which a specified vertex is directly attached, or null if no such node exists. In particular, if the specified vertex is controlled by multiple nodes, then this method will return null.

Parameters:

vtx - vertex being queried

Returns:

node to which vtx is directly attached, or null.

getVertexForNode

public Vertex3d getVertexForNode(FemNode3d node)

Returns a vertex which is directly attached to the specified node, or null if no such vertex exists.

Parameters:

node - node whose vertex is being queried

Returns:

vertex directly attached to the node, or null.

getHalfEdgeForNodes

public HalfEdge getHalfEdgeForNodes(FemNode3d nodeTail,
                                    FemNode3d nodeHead)

If nodeTail and nodeHead are directly attached to the tail and head vertices of a half-edge on this mesh, return the half-edge. Otherwise, return null.

Parameters:

nodeTail - node attached to the tail vertex

nodeHead - node attached to the head vertex

Returns:

half-edge connecting nodeTail to nodeHead

isSurfaceEdge

public boolean isSurfaceEdge(FemNode3d node0,
                             FemNode3d node1)

If node0 and node1 are directly attached to vertices of the mesh, return true if they are connected by a half-edge.

Parameters:

node0 - first node to query

node1 - second node to query

Returns:

true if nodes are attached to a half-edge on the mesh

getFaceElement

public FemElement3dBase getFaceElement(Face face)

createEmbedded

public static FemMeshComp createEmbedded(FemMeshComp surf,
                                         MeshBase mesh)

getFem

public FemModel3d getFem()

Specified by:

getFem in interface FemMesh

Specified by:

getFem in class FemMeshBase

addVertexAttachment

public void addVertexAttachment(PointAttachment attachment)

setVertexAttachment

public void setVertexAttachment(int vidx,
                                PointAttachment attachment)

setVertexAttachment

public void setVertexAttachment(int vidx,
                                double[] weights,
                                FemNode3d[] nodes)

createEmbedded

public static FemMeshComp createEmbedded(FemMeshComp surf,
                                         MeshBase mesh,
                                         FemModel3d fem)

createEmbeddingAttachments

public void createEmbeddingAttachments()

createEmbedded

public static FemMeshComp createEmbedded(FemModel3d fem,
                                         MeshBase mesh)

createNodalEmbedded

public static FemMeshComp createNodalEmbedded(FemMeshComp surf,
                                              MeshBase mesh,
                                              FemModel3d fem)

createNodalEmbedded

public static FemMeshComp createNodalEmbedded(FemModel3d fem,
                                              MeshBase mesh)

createSurface

public static FemMeshComp createSurface(java.lang.String name,
                                        FemModel3d fem,
                                        FemModel.ElementFilter efilter)

createSurface

public static FemMeshComp createSurface(java.lang.String name,
                                        FemModel3d fem)

createVolumetricSurface

public static FemMeshComp createVolumetricSurface(java.lang.String name,
                                                  FemModel3d fem,
                                                  java.util.Collection<FemElement3d> elems)

createVolumetricSurface

public static FemMeshComp createVolumetricSurface(java.lang.String name,
                                                  FemModel3d fem,
                                                  FemModel.ElementFilter efilter)

createVolumetricSurface

public static FemMeshComp createVolumetricSurface(java.lang.String name,
                                                  FemModel3d fem)

createShellSurface

public static FemMeshComp createShellSurface(java.lang.String name,
                                             FemModel3d fem,
                                             java.util.Collection<ShellElement3d> elems)

createShellSurface

public static FemMeshComp createShellSurface(java.lang.String name,
                                             FemModel3d fem,
                                             FemModel.ElementFilter efilter)

createShellSurface

public static FemMeshComp createShellSurface(java.lang.String name,
                                             FemModel3d fem)

createSurface

public void createSurface(FemModel.ElementFilter efilter)

createVolumetricSurface

public void createVolumetricSurface(java.util.Collection<FemElement3d> elems)

createShellSurface

public void createShellSurface(java.util.Collection<ShellElement3d> elems)

createVolumetricShellSurface

public void createVolumetricShellSurface(java.util.Collection<FemElement3d> volElems,
                                         java.util.Collection<ShellElement3d> shellElems)

getVertexStress

public void getVertexStress(SymmetricMatrix3d S,
                            int idx)

Computes the stress value for a particular vertex in this mesh. The value is interpolated from the nodes (if any) to which the vertex is attached, and it is assumed that stress values are being calculated for the nodes, either as a result of stress values being rendered for the mesh, or FemNode3d.setComputeStress(boolean) being called for the nodes or FemModel.setComputeNodalStress(boolean) being called for the entire FEM model.

Parameters:

S - returns the computes stress value

idx - index of the vertex

getVertexStrain

public void getVertexStrain(SymmetricMatrix3d S,
                            int idx)

Computes the strain value for a particular vertex in this mesh. The value is interpolated from the nodes (if any) to which the vertex is attached, and it is assumed that strain values are being calculated for the nodes, either as a result of strain values being rendered for the mesh, or FemNode3d.setComputeStrain(boolean) being called for the nodes or FemModel.setComputeNodalStrain(boolean) being called for the entire FEM model.

Parameters:

S - returns the computes strain value

idx - index of the vertex

getVertexEnergyDensity

public double getVertexEnergyDensity(int idx)

Computes the energy density value for a particular vertex in this mesh. The value is interpolated from the nodes (if any) to which the vertex is attached, and it is assumed that energy density values are being calculated for the nodes, either as a result of energy density values being rendered for the mesh, or FemNode3d.setComputeEnergyDensity(boolean) being called for the nodes or FemModel.setComputeNodalEnergyDensity(boolean) being called for the entire FEM model.

Parameters:

idx - index of the vertex

Returns:

strain energy density at the vertex

writeMesh

public boolean writeMesh(java.lang.String fileName)

Writes the mesh for this FemMeshComp out to a named file, using the format described for writeMesh(PrintWriter).

Parameters:

fileName - Name of file to write the mesh to

Returns:

true if the mesh is a polygonal mesh and was written, and false otherwise.

writeMesh

public boolean writeMesh(java.io.PrintWriter pw)

Writes the mesh for this FemMeshComp out to a PrintWriter, using a format of the form

 [ v 3 1.0
   v 3 0.5 1 0.5
   v 1 0.25 2 0.35 3 0.25 4 0.25
   v 2 0.5 4 0.5
   v 4 1.0
   f 1 3 2
   f 1 5 3
   f 3 5 4
 ]
 

Here each line beginning with v describes a mesh vertex in terms of the FEM nodes to which it is attached. This takes the form of a list of number/weight pairs:

   v n_0 w_0 n_1 w_1 n_2 w_2 ...
 

where n_i and w_i indicate, respectively, a FEM node (using its number as returned by getNumber()), and its corresponding weight. In the case where a vertex is not associated with any nodes, then it is described by a line of the form

   v -1 pz py pz
 

where px, py, and pz give the vertex's (fixed) position in space.

Each line beginning with f describes a mesh face, using the vertex numbers in counter-clockwise order about the outward facing normal. To be consistent with Wavefront .obj format, the vertex numbers are 1-based and so are equal to the vertex indices plus one.

If the mesh is not an instance of PolygonalMesh, then the method does nothing and returns null.

Parameters:

pw - writer to whichmesh is written

Returns:

true if the mesh is a polygonal mesh and was written, and false otherwise.

writeMesh

public boolean writeMesh(java.io.PrintWriter pw,
                         boolean nodeFormat)

scanMesh

public MeshBase scanMesh(ReaderTokenizer rtok)
                  throws java.io.IOException

Scans this mesh from a file, using the format described for writeMesh(java.lang.String). For backward compatibility, a format of the form

 [ f 0 1 2
   f 2 3 4
   f 4 5 6
 ]
 

Where no vertex information is given, and each face is instead described using the numbers of the FEM nodes that underlie each vertex. This makes the assumption that the mesh is single node mapped (i.e., isSingleNodeMapped() returns true), so that each vertex is associated with a single FEM node.

Parameters:

rtok - tokenizer from which mesh is read

Returns:

the scanned mesh

Throws:

java.io.IOException

connectToHierarchy

public void connectToHierarchy(CompositeComponent hcomp)

Description copied from class: ModelComponentBase

Called by the system after this component, or an ancestor of this component, is added to the component hierarchy (i.e., added as a child of another CompositeComponent). This method is responsible for doing any required hierarchy-dependent initialization, including any updating of referenced components.

When this method is called, ModelComponent.getParent() will return the new parent component; the system will have set this beforehand.

Specified by:

connectToHierarchy in interface ModelComponent

Overrides:

connectToHierarchy in class FemMeshBase

Parameters:

hcomp - hierarchy component to which this component, or its ancestor, was attached

disconnectFromHierarchy

public void disconnectFromHierarchy(CompositeComponent hcomp)

Description copied from class: ModelComponentBase

Called by the system after this component, or an ancestor of this component, is removed from the component hierarchy (i.e., removed as a child of its parent). This method is responsible for any required hierarchy-dependent deinitialization, including any updating of referenced components.

When this method is called, ModelComponent.getParent() will still return this original parent component; the system will set this to null after.

Specified by:

disconnectFromHierarchy in interface ModelComponent

Overrides:

disconnectFromHierarchy in class FemMeshBase

Parameters:

hcomp - hierarchy component from which this component, or its ancestor, was detached

copy

public FemMeshComp copy(int flags,
                        java.util.Map<ModelComponent,ModelComponent> copyMap)

Overrides:

copy in class FemMeshBase

isSurfaceMesh

public boolean isSurfaceMesh()

isGeneratedSurface

public boolean isGeneratedSurface()

Returns true is this mesh was generated by one of the createSurface methdods.

Returns:

true if this is a generated surface

hasNodeDependency

public boolean hasNodeDependency(FemNode3d node)

Check if this mesh depends on a particular node

getCollisionMesh

public PolygonalMesh getCollisionMesh()

Description copied from interface: CollidableBody

Returns the mesh that should be used for computing collisions, or null if there is no such mesh. If this method returns null, then no collisions will be performed for this collidable, regardless any default or explicit collision behaviors that have been arranged by the system.

Specified by:

getCollisionMesh in interface CollidableBody

Returns:

collision mesh for this collidable.

hasDistanceGrid

public boolean hasDistanceGrid()

Description copied from interface: CollidableBody

Returns true if this Collidable supports a signed distance grid that can be used with a SignedDistanceCollider. At present, this will only be true for non-deformable bodies.

Specified by:

hasDistanceGrid in interface CollidableBody

Returns:

true if this Collidable supports a signed distance grid

getDistanceGridComp

public DistanceGridComp getDistanceGridComp()

Description copied from interface: CollidableBody

Returns a DistanceGridComp object that in turn contains a signed distance grid that can be used with a SignedDistanceCollider, or null if this Collidable does not support a signed distance grid (i.e., if CollidableBody.hasDistanceGrid() returns false).

Specified by:

getDistanceGridComp in interface CollidableBody

getCollidable

public Collidable.Collidability getCollidable()

Description copied from interface: Collidable

Returns the Collidable.Collidability of this Collidable. This provides control over whether external and/or internal collisions are enabled for this Collidable. This setting takes precedence over default and explicitly requested collision behaviors.

Note that for collisions to actually occur, they still need to be enabled through either a default or explicit collision behavior in the MechModel.

Specified by:

getCollidable in interface Collidable

Returns:

Collidability of this collidable.

setCollidable

public void setCollidable(Collidable.Collidability c)

getCollidableAncestor

public Collidable getCollidableAncestor()

Description copied from interface: Collidable

Returns the most immediate Collidable ancestor of this Collidable, if any. Otherwise, return null.

Specified by:

getCollidableAncestor in interface Collidable

Returns:

immediate Collidable ancestor, or null.

isCompound

public boolean isCompound()

Description copied from interface: Collidable

Queries whether or not this collidable has sub-collidables.

Specified by:

isCompound in interface Collidable

Returns:

true if this collidable has sub-collidables

isDeformable

public boolean isDeformable()

Description copied from interface: Collidable

Returns true if this collidable is deformable. Whether or not a collidable is deformable determines how it responds to default collision behaviors involving deformable and rigid collidables. Also, self-collisions among sub-collidables of a collidable A are permitted only if A is deformable.

Specified by:

isDeformable in interface Collidable

Returns:

true if this collidable is deformable

getMass

public double getMass()

Description copied from interface: CollidableBody

Returns the mass of the body.

Specified by:

getMass in interface CollidableBody

Returns:

mass of the body

collectVertexMasters

public void collectVertexMasters(java.util.List<ContactMaster> mlist,
                                 Vertex3d vtx)

Collects the contact masters for a particular mesh vertex. The masters should be appended to mlist. The vertex should be a vertex of the mesh returned by CollidableBody.getCollisionMesh().

If CollidableBody.hasInvariantMasters() returns true, then the contact masters will not depend on vtx.

Specified by:

collectVertexMasters in interface CollidableBody

Parameters:

mlist - collected master components

vtx - vertex for which the master components are requested

hasInvariantMasters

public boolean hasInvariantMasters()

Queries whether or not the contact masters for a particular collision point are invariant across all contacts. An example where they are is a rigid body, where the body is the (single) master regardless of the contacts. An example where they are not is a finite element model, where the nodes associated with each contacting vertex form the masters for that contact.

A collidable that has invariant contact masters typically has fewer dynamic degrees of freedom compared to one that does not.

Specified by:

hasInvariantMasters in interface CollidableBody

Returns:

true if contact masters are constant

containsContactMaster

public boolean containsContactMaster(CollidableDynamicComponent comp)

Description copied from interface: CollidableBody

Returns true if this Collidable contains a specified contact master component.

Specified by:

containsContactMaster in interface CollidableBody

Parameters:

comp - component to test for

Returns:

true if comp is contained in this Collidable

allowCollision

public boolean allowCollision(ContactPoint cpnt,
                              Collidable other,
                              java.util.Set<Vertex3d> attachedVertices)

Description copied from interface: CollidableBody

Returns true if a collision between this Collidable and other should be allowed for the contact point cpnt. In making this decision, this method may refer to attachedVertices, which supplies a list of vertices on this Collidable which are attached in some way to the other Collidable.

Specified by:

allowCollision in interface CollidableBody

Parameters:

cpnt - contact point being tested

other - opposing collidable

attachedVertices - list of vertices attached to other.

Returns:

true if the collision should be allowed

getCollidableIndex

public int getCollidableIndex()

Specified by:

getCollidableIndex in interface CollidableBody

setCollidableIndex

public void setCollidableIndex(int idx)

Specified by:

setCollidableIndex in interface CollidableBody

transformGeometry

public void transformGeometry(GeometryTransformer gtr,
                              TransformGeometryContext context,
                              int flags)

Transforms the geometry of this component, using the geometry transformer gtr to transform its individual attributes. The context argument supplies information about what other components are currently being transformed, and also allows the requesting of update actions to be performed after all transform called have completed. The context is also the usual entity that calls this method, from within its TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method. The argument flags provides flags to specify various conditions associated with the the transformation. At present, the available flags are TransformableGeometry.TG_SIMULATING and TransformableGeometry.TG_ARTICULATED.

This method is not usually called directly by applications. Instead, it is typically called from within the TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method of the context, which takes care of the various operations needed for a complete transform operation, including calling TransformableGeometry.addTransformableDependencies(artisynth.core.modelbase.TransformGeometryContext, int) to collect other components that should be transformed, calling TransformableGeometry.transformGeometry(maspack.matrix.AffineTransform3dBase) for each component, notifying component parents that the geometry has changed, and calling any requested TransformGeometryActions. More details are given in the documentation for TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int).

TransformGeometryContext provides a number of static convenience transform methods which take care of building the context and calling apply() for a specified set of components.

This method should not generally call transformGeometry() for its descendant components. Instead, descendants needing transformation should be specified by adding them to the context in the method TransformableGeometry.addTransformableDependencies(artisynth.core.modelbase.TransformGeometryContext, int).

Specified by:

transformGeometry in interface TransformableGeometry

Overrides:

transformGeometry in class SkinMeshBase

Parameters:

gtr - transformer implementing the transform

context - context information, including what other components are being transformed

flags - specifies conditions associated with the transformation

createPointAttachment

public PointFem3dAttachment createPointAttachment(Point pnt)

Description copied from interface: PointAttachable

Returns a PointAttachment that attaches pnt to this component. It should not be assumed that pnt is currently connected to the component hierarchy, and no attempt should be made to connect the returned attachment to the hierarchy; the latter, if desired, is the responsibility of the caller.

In some cases, it may not be possible to attach the point at its present location. In that case, the method will create an attachment to the nearest feasible location.

Specified by:

createPointAttachment in interface PointAttachable

Parameters:

pnt - point for which an attachment should be created

Returns:

attachment connecting pnt to this component

getModel

public FemModel3d getModel()

postscan

public void postscan(java.util.Deque<ScanToken> tokens,
                     CompositeComponent ancestor)
              throws java.io.IOException

Description copied from interface: PostScannable

Performs any required post-scanning for this component. This involves handling any information whose processing was deferred during the scan() method and stored in the token queue. The most common use of this method is to resolve the paths of component references, which may not have been created at the time of the initial scan() call.

Specified by:

postscan in interface PostScannable

Overrides:

postscan in class SkinMeshBase

Parameters:

tokens - token information that was stored during scan().

ancestor - ancestor component with respect to which reference component paths are defined.

Throws:

java.io.IOException - if an error is encountered (such as a reference to a non-existent component)